Robot dynamic sensory controls in precision assembly

Paavo Kärkkäinen, Tapio Heikkilä, Harri Kopola, Seppo Nissilä, Urpo Niemelä

    Research output: Contribution to journalArticle in a proceedings journalScientificpeer-review


    An experimental robot assembly system was developed tor insertion of electronic components. Dimensional tolerances of the parts required development of Dynamical sensing methods for precisely guiding the robot actions. Optical and tactile sensing together with special software techniques was used in enhancing the performance of a typical scara robot. The concepts of data driven assembly was applied in definition of task description.
    Original languageEnglish
    Pages (from-to)297-301
    JournalIFAC Proceedings Volumes
    Issue number14
    Publication statusPublished - 1986
    MoE publication typeA4 Article in a conference publication
    EventIFAC/IFIP/IMACS Symposium on Theory of Robots - Vienna, Austria
    Duration: 3 Dec 19865 Dec 1986


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